Abb Schweiz Ag

Abb Research Ltd.

Hans Andersson

Sven Hanssen

Mats Olov Olsson

Siim Viilup

Peter Fixell

Kari Saarinen

Torgny Brogårdh

Ivan Lundberg

Stefan Danielsson

Daniel Sirkett

Daniel Lundbäck

Stig Moberg

Shiva Sander-Tavallaey

Daniel Wäppling

Görgen Johansson

Arne Trangärd

Markus Enberg

Camilla Kullborg

Mikael Norrlöf

Jakob Weström

Johan Noren

Andre Carvalho Bittencourt

Andreas Göransson

Mats Olsson

André Carvalho Bittencourt

Mattias Tallberg

A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

Method of controlling manipulator of industrial robot, control system and industrial robot

A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

Delta robot calibration methods, control system, delta robot and robot system

A shear pin for calibrating an industrial robot, the shear pin including an elongated body including a weakening defining a break location in case of overload. The shear pin is configured to be mounted to a calibration pin holder on the robot. A maximum force that the calibration pin can exert on the robot during calibration can be easily limited by dimensioning the weakening appropriately.

Shear pin for robot calibration

A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

Condition monitoring of an industrial robot

An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

Determining a calibration position of a robot joint

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Västerås, Sweden

Hans Andersson